An agricultural harvester has a frame and a spout that is movably mounted relative to the frame. A spout actuator drives movement of the spout relative to the frame. Harvesting functionality engages material from a field and delivers the material through an outlet end of the spout as the agricultural harvester moves through the field in a direction of travel. A turn identifier identifies a location of a turn forward of the agricultural harvester and generates a turn location indicator indicative of the location of the turn. A speed detector detects a speed of the agricultural harvester and generates a speed indicator indicative of the detected speed. A position compensation control system generates spout position compensation information based on the turn location indicator and the speed indicator, and a spout position controller controls the spout actuator based on the spout position compensation information.
Legal claims defining the scope of protection, as filed with the USPTO.
2. The agricultural system of claim 1 wherein the position compensation control system is configured to send the spout position compensation information to the spout position controller prior to the agricultural harvester executing the turn.
3. The agricultural system of claim 1 wherein the material comprises a windrow and wherein the image processor is configured to identify, as the orientation of the material, a turn in the windrow forward of the agricultural harvester and an angle of the turn.
4. The agricultural system of claim 1 wherein the material comprises a crop row or crop edge and wherein the image processor is configured to identify, as the orientation of the material, a turn in the crop row or crop edge forward of the agricultural harvester and an angle of the turn.
6. The agricultural system of claim 5 wherein the spout outputs the material to a receiving vessel that is separate from the agricultural harvester and wherein the position compensation control system is configured to determine a change in a position of the outlet end of the spout relative to a position of the receiving vessel that will result from the agricultural harvester executing the turn, the position compensation control system being further configured to generate the spout position compensation information and the flap position compensation information based on the change in a position of the outlet end of the spout relative to a position of the receiving vessel that will result from the agricultural harvester executing the turn.
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February 18, 2021
April 30, 2024
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